| Title | Following a path of varying curvature as an output regulation problem |
| Publication Type | Journal Article |
| Year of Publication | 2002 |
| Authors | Altafini, C |
| Journal | IEEE Trans. Automatic Control 47 (2002) 1551-1556 |
| Abstract | Given a path of nonconstant curvature, local asymptotic stability can be proven for the general n trailer whenever the curvature can be considered as the output of an exogenous dynamical system. The controllers that provide convergence to zero of the tracking error chosen for the path-following problem are composed of a prefeedback that input-output linearizes the system, plus a linear controller. |
| URL | http://hdl.handle.net/1963/3143 |
| DOI | 10.1109/TAC.2002.802750 |